DM-SLAM: Monocular SLAM in Dynamic Environments
Many classic visual monocular SLAM (simultaneous localization and mapping) systems have been developed over the past decades, yet most of them fail when dynamic scenarios dominate. DM-SLAM is proposed for handling dynamic objects in environments based on ORB-SLAM2. This article mainly concentrates o...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-06-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/10/12/4252 |
| _version_ | 1797564519435730944 |
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| author | Xiaoyun Lu Hu Wang Shuming Tang Huimin Huang Chuang Li |
| author_facet | Xiaoyun Lu Hu Wang Shuming Tang Huimin Huang Chuang Li |
| author_sort | Xiaoyun Lu |
| collection | DOAJ |
| description | Many classic visual monocular SLAM (simultaneous localization and mapping) systems have been developed over the past decades, yet most of them fail when dynamic scenarios dominate. DM-SLAM is proposed for handling dynamic objects in environments based on ORB-SLAM2. This article mainly concentrates on two aspects. Firstly, we proposed a distribution and local-based RANSAC (Random Sample Consensus) algorithm (DLRSAC) to extract static features from the dynamic scene based on awareness of the nature difference between motion and static, which is integrated into initialization of DM-SLAM. Secondly, we designed a candidate map points selection mechanism based on neighborhood mutual exclusion to balance the accuracy of tracking camera pose and system robustness in motion scenes. Finally, we conducted experiments in the public dataset and compared DM-SLAM with ORB-SLAM2. The experiments corroborated the superiority of the DM-SLAM. |
| first_indexed | 2024-03-10T18:59:18Z |
| format | Article |
| id | doaj.art-7b1106e5b9494abc957e90a58655d975 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T18:59:18Z |
| publishDate | 2020-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-7b1106e5b9494abc957e90a58655d9752023-11-20T04:31:34ZengMDPI AGApplied Sciences2076-34172020-06-011012425210.3390/app10124252DM-SLAM: Monocular SLAM in Dynamic EnvironmentsXiaoyun Lu0Hu Wang1Shuming Tang2Huimin Huang3Chuang Li4Xi’an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi’an 710119, ChinaXi’an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi’an 710119, ChinaUniversity of Chinese Academy of Sciences, Beijing 100049, ChinaXi’an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi’an 710119, ChinaXi’an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi’an 710119, ChinaMany classic visual monocular SLAM (simultaneous localization and mapping) systems have been developed over the past decades, yet most of them fail when dynamic scenarios dominate. DM-SLAM is proposed for handling dynamic objects in environments based on ORB-SLAM2. This article mainly concentrates on two aspects. Firstly, we proposed a distribution and local-based RANSAC (Random Sample Consensus) algorithm (DLRSAC) to extract static features from the dynamic scene based on awareness of the nature difference between motion and static, which is integrated into initialization of DM-SLAM. Secondly, we designed a candidate map points selection mechanism based on neighborhood mutual exclusion to balance the accuracy of tracking camera pose and system robustness in motion scenes. Finally, we conducted experiments in the public dataset and compared DM-SLAM with ORB-SLAM2. The experiments corroborated the superiority of the DM-SLAM.https://www.mdpi.com/2076-3417/10/12/4252static features extractiondynamic environments3D reconstructionmonocular SLAM |
| spellingShingle | Xiaoyun Lu Hu Wang Shuming Tang Huimin Huang Chuang Li DM-SLAM: Monocular SLAM in Dynamic Environments Applied Sciences static features extraction dynamic environments 3D reconstruction monocular SLAM |
| title | DM-SLAM: Monocular SLAM in Dynamic Environments |
| title_full | DM-SLAM: Monocular SLAM in Dynamic Environments |
| title_fullStr | DM-SLAM: Monocular SLAM in Dynamic Environments |
| title_full_unstemmed | DM-SLAM: Monocular SLAM in Dynamic Environments |
| title_short | DM-SLAM: Monocular SLAM in Dynamic Environments |
| title_sort | dm slam monocular slam in dynamic environments |
| topic | static features extraction dynamic environments 3D reconstruction monocular SLAM |
| url | https://www.mdpi.com/2076-3417/10/12/4252 |
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